blasalat's profile - activity

Hi, I am currently using the robot_localization package for the state estimation of my robot. I also have a RTK GPS Device which I would like to include in robot_localization. The problem is that I don't know my yaw offset because I am using a phidgets IMU and I am not including the magnetic field when using the madgwick orientation filter because that causes poor results as the IMU is located close to the motor.

My idea would be to calculate the yaw offset by getting the course over ground from my GPS-Receiver. I would then first start navsat_transform when I calculated the new yaw offset or I would add a service to navsat_transform to set the yaw offset during runtime.

Has any one had similar problems and a good solution?

Hi, I'm trying to use the nmea_navsat_driver PKG to get GPS-Data from a ublox C94-M8P-3 Receiver. When running "rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyACM0 _baud:=9600 " No data is published on the "/fix" topic. The nmea_serial_driver also does not print any output. I made sure my user is in the dialout group. And when using ucenter from ublox i can see that the GPS-Receiver is working.

Any ideas why it's not working?

Thank You!

Check out the urdf tutorials. The tutorials explain how to add meshes to links. If you need more specific help, you wil

Check out the urdf tutorials. The tutorials explain how to add a meshes to links. If you need more specific help, you w

Check out the urdf tutorials. The tutorials explain how to add a meshes to links. If you need more specific help, you w

This won't work with the ublox pkg. But You can set up a ntrip server (either use the built in one in u-center or the BK

I had similar problems with the ublox node. I configured my ublox devices manually with u-center and used the nmea-navsa

robot_localization navsat_transform yaw offset and phidgets imu Hi, I am currently using the robot_localization package

Hi, I am currently trying to migrate to robot_localization. I am using IMU and odometry data for the ekf_localization_node. When running ekf_localization_node I get a tf error:

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_footprint" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_footprint" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 253 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp

Here is a Bagfile I made containing IMU and Odometry data. My cofing:

frequency: 30
sensor_timeout: 0.1
two_d_mode: false
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
publish_tf: true
publish_acceleration: false
odom_frame: odom_combined            # Defaults to "odom" if unspecified
base_link_frame: base_footprint  # Defaults to "base_link" if unspecified
world_frame: odom_combined           # Defaults to the value of odom_frame if unspecified

odom0: odom
odom0_config: [true,  true,  false,
               false, false, true,
               true,  false, false,
               false, false, true,
               false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: true
odom0_relative: false
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1

imu0: imu/data
imu0_config: [false, false, false,
              true,  true,  true,
              false, false, false,
              true,  true,  true,
              true,  true,  true]
imu0_nodelay: false
imu0_differential: true
imu0_relative: true
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8                #
imu0_linear_acceleration_rejection_threshold: 0.8  #
imu0_remove_gravitational_acceleration: true

Any chance someone can help me figure this out.

Hi, sorry for responding so late. The error occurred due to nan values in my odom messages.

Help migrating from robot_pose_ekf to robot_localization Hi, I am currently trying to migrate to robot_localization. I

nmea_navsat_driver not sending any data (ublox m8p) Hi, I'm trying to use the nmea_navsat_driver PKG to get GPS-Data fr

Hello, I would like to connect certain points of a PointCloud with a line. I was hoping it could work like this

 line_list.points.push_back(my_point_cloud.points[i]);
 line_list.points.push_back(my_point_cloud.points[j]);

but that won't work because visualization_msgs::Marker.points are geometry_msgs::Point and sensor_msgs::PointCloud.points are geometry_msgs::Point32.

Any suggestion how to solve this problem?

Thak you!